CN104742957A - Method Of Detecting Deviation Of Travel Path Of Vehicle - Google Patents
Method Of Detecting Deviation Of Travel Path Of Vehicle Download PDFInfo
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- CN104742957A CN104742957A CN201410563300.0A CN201410563300A CN104742957A CN 104742957 A CN104742957 A CN 104742957A CN 201410563300 A CN201410563300 A CN 201410563300A CN 104742957 A CN104742957 A CN 104742957A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Abstract
A method of detecting a deviation of a travel path of a vehicle, may include a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions, a second step of determining whether the vehicle travels at a predetermined speed or higher, a third step of determining whether the motor torque has a predetermined magnitude or larger, and a fourth step of determining whether a change rate of a yaw rate may be a predetermined value or less.
Description
Technical field
The disclosure relates to a kind of method departed from detecting vehicle running path, and it can prevent driving vehicle from departing from driving path with ignoring the intention of chaufeur by using the status information of motor driven power steering device and vehicle.
Background technology
Along with the increase of vehicle part electronization degree, the interest about the functional safety of vehicle increase increases, and vehicle related industry has very large interest for ISO26262 (namely about the international standard of the functional safety of vehicle).
Therefore, provide the effort of the steering hardware meeting ISO26262 to be absorbed in accelerate in motor driving servo-steering (MDPS) the device field of vehicle.
According to correlation technique, seeking the fault detection performance of the raising when breaking down, to guarantee the functional safety of motor driven power steering device, and the problem that can produce due to the fault of motor driven power steering device comprises (or locking) in stays.
Term " in stays " refers to such situation, there is deviation in steering torque and the Motor torque of chaufeur, so that when with when there is the steering torque of the chaufeur for turning when predetermined speed or more speed steering vehicle, if Motor torque has the amplitude identical with the amplitude of the steering torque of chaufeur gone up in the opposite direction in the side of the steering torque with chaufeur, then turn to and become impossible.
Fig. 1 is display is occur view in stays according to travelling at vehicle of correlation technique.
As shown in Figure 1, motor driven power steering device fault, when chaufeur wishes to turn, vehicle can not be turned but be moved forward.
In other words, if there is fault such as in stays in motor driven power steering device, even if then attempt turning, but due to steering locking, so the vehicle moved forward at the point 1 of Fig. 1 can not be turned but move forward,
So, when there is dangerous situation such as in stays, because motor driven power steering device fault during the traveling of vehicle, so ignore the intention of chaufeur along with vehicle and depart from normal driving path, grave accident may be there is.
According to correlation technique, when occurring being considered to dangerous fault, by being only absorbed in the function of motor driven power steering device when motor driven power steering device fault, the electric current being fed to the motor of steering hardware is to sever immediately upon impact by the firing pin, to stop the operation of motor driven power steering device and not consider the state of vehicle.
But, according to the disclosure, if detected the fault of steering hardware by the function being only absorbed in motor driven power steering device, then also needing the system for monitoring newly-increased function when the function of newly-increased motor driven power steering device, making system become complicated.
And, occur when motor driven power steering device fault since phenomenon such as in stays has more than, so need to consider that the state of vehicle is accurately to detect phenomenon such as in stays.
The information being disclosed in background parts of the present invention is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The various aspects of this aspect are devoted to by a kind of method departed from detecting vehicle running path, and it can prevent driving vehicle from departing from driving path with ignoring the intention of chaufeur by using the status information of motor driven power steering device and vehicle.
According to an aspect of the present disclosure, a kind of method departed from detecting vehicle running path can comprise: first step, determines whether the steering torque of chaufeur has different directions from the Motor torque of motor driven power steering device; Second step, determines whether vehicle travels with predetermined speed or more speed; Third step, determines whether Motor torque has predetermined amplitude or larger amplitude; And the 4th step, determine whether the rate of change of rate of partially sailing is predetermined value or less value.
The method may further include the 5th step, and when track keeps ancillary system (LKAS) to be installed to vehicle, the 5th step determines whether LKAS normally runs.
When first step, second step, third step and the 4th step are all met, when chaufeur produces the steering torque for turning, determine to create departing from of vehicle running path.
When first step, second step, third step and the 4th step are all met, be determined to be the in stays of vehicle.
When first step, second step, third step and the 4th step are all met, determine to create departing from of vehicle running path, and by cutting off the electric current and the motor of closing for motor driven power steering device that are fed to motor.
In a first step, when the value obtained by being added with Motor torque by the steering torque of chaufeur is less than 0, determine that the steering torque of chaufeur and Motor torque have different directions.
In the 4th step, when Motor torque has predetermined amplitude or larger amplitude, when the rate of change of partially sailing rate be predetermined value or less value time determine that vehicle forward rectilinear travels.
In the 4th step, when Motor torque has predetermined amplitude or larger amplitude, the value obtained when partially sailing rate by differential be predetermined value or less value time determine that vehicle forward rectilinear travels.
The disclosure can demonstrate following effect.
First, by using the status information of motor driven power steering device and vehicle accurately detect and prevent in stays, vehicle can be avoided to depart from and catastrophic situation from driving path.
Secondly, when occurring in stays, the motor of servo steering device can be driven to guarantee the functional safety of motor driven power steering device by disable motor.
Again, when detecting in stays, the electric current be fed to for the motor of steering hardware by cut-out, so that by the State Transferring of vehicle to manual steering state, can guarantee driving safety.
By include in accompanying drawing herein and subsequently together with accompanying drawing for illustration of the detailed description of the invention of some principle of the present invention, the further feature that method and apparatus of the present invention has and advantage more specifically will become clear or be illustrated.
Accompanying drawing explanation
Fig. 1 is that display occurs view in stays according to correlation technique when vehicle travels.
Fig. 2 is the diagram of circuit of display according to the method departed from of detection vehicle running path of the present disclosure.
Fig. 3 is that display is for verifying the view of the simulated conditions in stays of the method departed from according to detection vehicle running path of the present disclosure.
Fig. 4 is the view of display according to the analog result of the simulated conditions of Fig. 3.
Should understand, appended accompanying drawing is not the technique of painting slightly simplified of the illustrative various preferred feature that must show groundwork of the present invention pari passu.Specific design feature of the present invention disclosed herein comprises such as concrete size, direction, position and profile and will partly be determined by the environment specifically will applied and use.
In these figures, run through several figures of accompanying drawing, Reference numeral represents equally or equivalent part of the present invention.
Detailed description of the invention
Present will specifically with reference to each embodiment of the present invention, in the accompanying drawings with the example of these embodiments shown in following description.Although the present invention combines with illustrative embodiments and is described, should understand, this specification sheets not intended to be limits the invention to those illustrative embodiments.On the contrary, the present invention is intended to not only contain exemplary embodiments, also contains and is contained in as the various changes in the spirit and scope of the invention of claims restriction, change, equivalent and other detailed description of the invention.
Hereinafter, the disclosure will be described in detail thus disclosure one of ordinary skill in the art easily can implement the disclosure.
The disclosure relate to a kind of stage in early days detect dangerous situation to prevent the unsve method of Vehicular turn, described dangerous situation comprises can not using of Vehicular turn, such as can by the fault of motor driven power steering device cause in stays.
Generally speaking, if bearing circle is operated during the traveling of vehicle, then motor driven power steering device carrys out operating electrical machines, with the travel direction making chaufeur can change vehicle simply according to the Angulation changes of bearing circle or moment of torsion change.
In other words, in motor driven power steering device, if pilot control bearing circle, then torque sensor detects the manipulation of bearing circle, electronic control unit (MDPS ECU) will correspond to the order of steering direction of bearing circle and steering torque value transmit to motor, and motor responds the axle that this order runs moving vehicle front-wheel, with the travel direction making chaufeur can change vehicle simply.
With reference to figure 2, according in the method departed from of detection vehicle running path of the present disclosure, first, by the direction ratio of the direction of the steering torque of chaufeur or the steering torque of bearing circle and Motor torque comparatively, to determine that the direction of two moments of torsion is identical or different.
The steering torque of chaufeur is at the torque rating that chaufeur produces during steering dish on desired direction during the traveling of vehicle, and Motor torque is the torque rating of the motor for motor driven power steering device.
Torque sensor is installed to the motor driven power steering device of vehicle, if make pilot control bearing circle, then torque sensor detects the steering torque of chaufeur according to the intention that turns to of chaufeur.
As mentioned above, if vehicle enters state in stays, then the steering torque of chaufeur and Motor torque produce in the opposite direction.
Therefore, the value obtained by being added with Motor torque by the steering torque of chaufeur can compare with 0, to compare the steering torque of chaufeur and the direction of Motor torque, wherein, if when being 0 by the steering torque of chaufeur is added obtained value with Motor torque, then determine that two moments of torsion have the value of different directions, that is, the steering torque of chaufeur and Motor torque produce in the opposite direction.
As mentioned above, because vehicle in stays results from the situation that vehicle travels with predetermined speed or more speed, so determine whether vehicle travels (S110) with predetermined speed or more speed.
If motor driven power steering device et out of order while vehicle travels with predetermined speed or more speed, then can be determined to be dangerous situation such as in stays.
Therefore, in order to determine the current driving speed of vehicle, that is, in order to determine whether vehicle travels with predetermined speed or more speed, the current driving speed of vehicle is compared with the reference car speed preset.
Be the car speed preset with reference to car speed, and it can by the speed that should treat more sensitively of fault detection be defined as arbitrarily for motor driven power steering device.
Such as, because compared to low speed driving, the fault of motor driven power steering device can more seriously affect in stays in period of running at high speed, so can determine accordingly with reference to car speed.
As mentioned above, when chaufeur produces the steering torque of the turning being used for vehicle, also the side of the steering torque with chaufeur in the opposite direction on create the identical Motor torque of the amplitude of the steering torque of amplitude and chaufeur so that become impossible according to the turning to of hope of chaufeur.
Therefore, determine motor drive the Motor torque of steering hardware be whether predetermined amplitude or larger amplitude to detect the in stays of vehicle, and Motor torque to be compared (S120) with the reference torque preset.
If determine that the amplitude of Motor torque is reference torque or larger, if that is, Motor torque is predetermined value or larger value, then determine whether the rate of change of rate of partially sailing is predetermined value or lower value.
It is known that the rate of sailing represents the speed that angle of rotation (partially sailing angle) changes around the vertical curve through vehicle center partially, and the state of sailing partially of vehicle can be determined by the rate of change (that is, partially sailing the differential value of rate) of partially sailing rate.
When motor driven power steering device is in normal condition, if Motor torque becomes predetermined value or higher value, then the rate of change of partially sailing rate becomes predetermined value so that turn inside diameter.
Therefore, when Motor torque be predetermined value or higher value time, if the rate of change of partially sailing rate is predetermined value or lower value, then determine that vehicle forward rectilinear travels.
In order to determine the rate of change of rate of partially sailing, will partially be sailed the amplitude of rate by differential and the value that obtains compares with the reference changes values preset, to determine whether the rate of change of rate of partially sailing is with reference to changes values or lower value (S130).
Under Motor torque is reference torque or higher condition, if partially sail the amplitude of rate by differential and the value obtained is the reference changes values or less value that preset, namely, if partially sail the amplitude of rate by differential and the value that obtains is predetermined value or less value, then can determine that vehicle forward rectilinear travels (S140).
When creating the steering torque of chaufeur, if condition is not satisfied, namely, the side of the steering torque with chaufeur in the opposite direction on produce the condition of Motor torque, car speed is the condition of predetermined value (with reference to car speed) or higher value, when the condition of the amplitude of Motor torque to be the condition of predetermined value (reference torque) or higher value and the rate of change of partially sailing rate be predetermined value (with reference to changes values) or lower value is all met, then determine that vehicle running path departs from due to the fault of motor driven power steering device.
In other words, if full terms is met, determines that vehicle can not be turned along normal route and forward rectilinear travels, cause vehicle to depart from the dangerous situation of normal driving path, and therefore determine to have occurred in vehicle (S150) in stays.
Simultaneously, the track be installed on some vehicles keeps ancillary system (LKAS) to be for preventing the system of vehicle automatically from deviation during the traveling of vehicle, it is known that, LKAS has and uses sensor to come to differentiate the function in track and steering dish to maintain the function in track by white line or center line, also has the function being carried out driver when automotive run-off-road by the vibration of bearing circle or audio warning.
Therefore, because adopt the vehicle of LKAS may produce in stays due to the fault of LKAS, what cause due to the inefficacy of LKAS is in staysly got rid of by determining LKAS normally to run, and only just detects by MDPS ECU the state in stays caused due to the fault of MDPS at LKAS normal operation period.In other words, just in stays caused by the fault of MDPS of detection under the condition adopting the vehicle of LKAS only normally to run at LKAS.
In order to reference, when LKAS is in abnomal condition, LKAS ECU stops the operation of LKAS.
So, if determine vehicle along with motor driven power steering device fault due in stays and depart from (S150) from normal driving path, then be fed to motor cut-off for the electric current of motor driven power steering device, so that disable motor (S160), thus by the State Transferring of vehicle is guaranteed driving safety to manual steering state.
According to the disclosure, be installed to the electronic control unit of vehicle (such as, MDPS ECU) from corresponding sensor and system acceptance for determining the signal of various condition, with detect occur due to motor driven power steering device fault by dangerous situation such as in stays.
Meanwhile, in order to confirm and verify the particularity according to the method departed from of detection vehicle running path of the present disclosure and reliability, create in stays to obtain as the analog result in Fig. 4 in the simulated conditions in such as Fig. 3.
With reference to figure 3, in simulated conditions, caused in stays by following manner: start to produce fault in the time point that travels with the speed forward rectilinear of the 80KPH motor driven power steering device at vehicle at vehicle, then after 2 seconds, attempt to allow turn inside diameter.
As mentioned above, detect and determine that the condition produced by motor driven power steering device fault in stays comprises, the side of the steering torque with chaufeur in the opposite direction on produce the condition of Motor torque, car speed is predetermined value (with reference to car speed) or the condition of the higher condition of value, the amplitude of Motor torque to be the condition of predetermined value (reference torque) or higher value and the rate of change of partially sailing rate be predetermined value (with reference to changes values) or lower value is met.
With reference to figure 4, visible, motor driven power steering device vehicle start forward rectilinear travel after again in the analog result of the some et out of order of 2 seconds, the value obtained by being added with Motor torque by the steering torque of chaufeur becomes the value of 0 or less, Motor torque is increased to predetermined amplitude or larger amplitude gradually, and the rate of change of partially sailing rate becomes predetermined value or lower value.
Although not shown in Fig. 4, visible, in analog result, the speed of vehicle is predetermined value or larger value.
So, visible, by the method departed from of the detection vehicle running path according to correlation technique can detect by the fault of motor driven power steering device cause in stays.
Therefore, visible, when suitable reference car speed, reference torque and when being set to for car speed, Motor torque with reference to rate of change and partially sailing the threshold value of rate of change of rate, the in stays of vehicle can be detected by application according to method of the present disclosure and not produce mistake.
The aforementioned description to concrete illustrative embodiments of the present invention is to illustrate and the object of illustration.Limit the present invention is not thought in these descriptions, or the present invention is defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected illustrative embodiments and describe is to explain certain principles of the present invention and practical application thereof, thus others skilled in the art can be realized and utilize various different illustrative embodiments of the present invention and various different selection and change.Scope of the present invention is intended to limited by appending claims and equivalents thereof.
Claims (8)
1. detect the method departed from of vehicle running path, described method comprises:
First step, determines whether the steering torque of chaufeur has different directions from the Motor torque of motor driven power steering device;
Second step, determines whether vehicle travels with predetermined speed or more speed;
Third step, determines whether described Motor torque has predetermined amplitude or larger amplitude; And
4th step, determines whether the rate of change of rate of partially sailing is predetermined value or less value.
2. the method departed from of detection vehicle running path according to claim 1, comprises the 5th step further, and when track keeps ancillary system to be installed to described vehicle, described 5th step determines that described track keeps ancillary system whether normally to run.
3. the method departed from of detection vehicle running path according to claim 1, wherein when described first step, described second step, described third step and described 4th step are all met, when chaufeur produces the described steering torque for turning, determine to create departing from of described vehicle running path.
4. the method departed from of detection vehicle running path according to claim 1, when described first step, described second step, described third step and described 4th step are all met, is determined to be the in stays of described vehicle.
5. the method departed from of detection vehicle running path according to claim 1, when described first step, described second step, described third step and described 4th step are all met, determine to create departing from of described vehicle running path, and by cutting off the electric current and the described motor of closing for described motor driven power steering device that are fed to described motor.
6. the method departed from of detection vehicle running path according to claim 1, wherein in described first step, when the value obtained by being added with described Motor torque by the steering torque of described chaufeur is less than 0, determine that the steering torque of described chaufeur has different directions from described Motor torque.
7. the method departed from of detection vehicle running path according to claim 1, wherein in described 4th step, when described Motor torque has predetermined amplitude or larger amplitude, when described rate of change of partially sailing rate be predetermined value or less value time determine that described vehicle forward rectilinear travels.
8. the method departed from of detection vehicle running path according to claim 1, wherein in described 4th step, when described Motor torque has predetermined amplitude or larger amplitude, when the value obtained by partially sailing rate described in differential be predetermined value or less value time determine that described vehicle forward rectilinear travels.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2013-0167900 | 2013-12-30 | ||
| KR20130167900A KR101491391B1 (en) | 2013-12-30 | 2013-12-30 | Method for determining driving course deviation of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742957A true CN104742957A (en) | 2015-07-01 |
| CN104742957B CN104742957B (en) | 2018-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410563300.0A Active CN104742957B (en) | 2013-12-30 | 2014-10-21 | The method for detecting the deviation of vehicle running path |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US9604667B2 (en) |
| KR (1) | KR101491391B1 (en) |
| CN (1) | CN104742957B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106324635A (en) * | 2016-08-01 | 2017-01-11 | 广州展讯信息科技有限公司 | Satellite navigation positioning-based vehicle straight running detection method and device |
| CN108944942A (en) * | 2017-05-26 | 2018-12-07 | 长城汽车股份有限公司 | The detection method and device of straight line traveling |
| CN111098918A (en) * | 2018-10-26 | 2020-05-05 | 现代摩比斯株式会社 | Apparatus and method for controlling motor-driven power steering system |
| CN111356625A (en) * | 2017-09-15 | 2020-06-30 | 捷太格特欧洲公司 | Method for optimizing vehicle speed indicator parameters for steering assist and safety functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104742957B (en) | 2018-10-30 |
| US9604667B2 (en) | 2017-03-28 |
| KR101491391B1 (en) | 2015-02-06 |
| US20150183458A1 (en) | 2015-07-02 |
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